EP1165369A1 - Helicopter with highly stable and highly manoeuvrable pendular piloting system - Google Patents

Helicopter with highly stable and highly manoeuvrable pendular piloting system

Info

Publication number
EP1165369A1
EP1165369A1 EP00978983A EP00978983A EP1165369A1 EP 1165369 A1 EP1165369 A1 EP 1165369A1 EP 00978983 A EP00978983 A EP 00978983A EP 00978983 A EP00978983 A EP 00978983A EP 1165369 A1 EP1165369 A1 EP 1165369A1
Authority
EP
European Patent Office
Prior art keywords
fuselage
rotor head
helicopter
axis
pendulum
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP00978983A
Other languages
German (de)
French (fr)
Other versions
EP1165369B1 (en
Inventor
Bernard Lucien Charles De Salaberry
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Publication of EP1165369A1 publication Critical patent/EP1165369A1/en
Application granted granted Critical
Publication of EP1165369B1 publication Critical patent/EP1165369B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/32—Rotors
    • B64C27/46—Blades
    • B64C27/473—Constructional features
    • B64C27/48—Root attachment to rotor head
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H27/00—Toy aircraft; Other flying toys
    • A63H27/12—Helicopters ; Flying tops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/08—Helicopters with two or more rotors
    • B64C27/10—Helicopters with two or more rotors arranged coaxially
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/52—Tilting of rotor bodily relative to fuselage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B64U30/24—Coaxial rotors

Definitions

  • the present invention relates to the production of a pendulum piloted helicopter characterized by very great maneuverability and by intrinsic stability.
  • the rotor head is fixed to the fuselage by means of a ball joint which allows it to be oriented in roll and pitch, with respect to said fuselage, by a piloting command, using jacks for example.
  • the rotor head of a pendulum piloted helicopter normally comprises two rotors rotating in opposite directions.
  • US Patent No. 5,791,592 describes a pendulum piloted helicopter which provides great simplicity of construction since it eliminates all of the complex mechanics of varying the pitch of the blades of a conventional helicopter. On the other hand, it retains the same maneuverability and stability limitations as a conventional helicopter.
  • the pendulum piloted helicopter according to the invention provides a decisive advantage because, not only does it have intrinsic piloting stability, but above all it offers maneuvering possibilities which make it possible to take off and land on highly inclined or still on highly mobile platforms in roll and pitch such as boat decks.
  • the invention consists in using the orientation control of the rotor head by jacks to control said orientation with respect to the vertical, independently of the angular position of the fuselage and this in a range of at least ⁇ 10 degrees and capable of be extended to ⁇ 20 degrees, so that the plane of the rotors can be placed horizontally even if the fuselage is steeply inclined, which makes it possible to take off and land in conditions previously prohibited.
  • the invention applies equally to non-piloted aircraft as to piloted aircraft, with thermal or electric motors.
  • the invention therefore relates to a pendulum piloted helicopter of the type comprising: - a fuselage provided with a motorization and means of energy transmission,
  • a rotor head comprising two counter-rotating rotors rotating around the same axis, fixed to the fuselage by a movable link, - actuators for controlling the orientation of said rotor head relative to the fuselage,
  • FIG. 1 is a cutaway perspective view of a pendulum piloted helicopter according to the invention in an unmanned embodiment
  • FIG. 2 is a rear section view of the helicopter of FIG. 1,
  • FIG. 3 is a detailed section view of the rotor head of the helicopter of FIG. 1
  • FIG. 4 is a detailed section view of the transmission means of the helicopter of FIG. 1
  • FIGS. 5a and 5b are sectional views of a blade root of the helicopter of FIG. 1, FIG. 5a being a view of the whole of the blade root and FIG. 5b being a view of the support for pale himself,
  • FIG. 6 is a side view of the helicopter of FIG. 1 showing the mounting of the fins
  • FIG. 7 is a schematic view of the helicopter according to the invention showing the mounting of the fin in the case of a single fin extending the fuselage,
  • FIG. 8 is a block diagram of the means of piloting the helicopter according to the invention.
  • FIGS. 9a and 9b are schematic views of the helicopter according to the invention showing its piloting principle
  • FIG. 10 is a schematic view of the helicopter according to the invention illustrating its maneuverability
  • FIG. 11 is a schematic view of a variant with manual piloting of the helicopter according to the invention showing its piloting principle.
  • Figures 1 and 2 show an unmanned embodiment of the pendulum helicopter according to the invention. It comprises :
  • a fuselage 1 made of aluminum angles or any other material and which can take any suitable form
  • a rotor head 2 connected to the fuselage 1 by a ball joint 3, - jacks, respectively 4 and 5, connecting the fuselage 1 to the rotor head 2, so as to control the orientation of said rotor head, pitch and roll, with respect to said fuselage 1,
  • the fuselage mounted on a landing gear 8, preferably with skids, comprises:
  • the rotor head 2 as shown in FIG. 3, comprises:
  • a central support 10 substantially of revolution, having a vertical axis 11, mounted, by its lower part 12, on a support plate 13 substantially perpendicular to said axis 11, and carrying at least two small axes, respectively 14 and 15, perpendicular to said axis 11, said small axes being preferably produced using shouldered screws, - an axis 16, preferably hollow, collinear with axis 11, passing through the central support 10 and the plate 13, rotating between two ball bearings, one 96 fixed in said central support 10 and the other 17 fixed in a cover 18, said axis 16 carrying an upper plate 19, - a lower plate 20 centered on the axis 11, receiving a bevel gear 21 and forming with this housing for a bearing 22 centered on the central support 10,
  • the ball joint 3 made up like a cardan joint, comprises:
  • a movable yoke 33 constituted by two protuberances 34 fixed under the plate 13 secured to the support 10 of the rotor head 2,
  • a nut 35 of annular shape, connecting the fixed yoke 32 and the movable yoke 33 using four shoulder screws 36 articulated in said yokes 32 and 33 and screwed in said nut.
  • the length of the yokes 32 and 33, their recesses and the internal diameter of the annular nut 35, are dimensioned to allow the energy transmission means described below to pass while ensuring freedom of angular movement of the rotor head 2 with respect to the fuselage 1 of at least ⁇ 10 degrees and possibly reaching ⁇ 20 degrees, so that the axis 11 of said rotor head 2 can be oriented in a cone whose apex angle is at least between 10 and 20 degrees and preferably greater than 20 degrees.
  • Said ball joint 3 can of course be replaced by any other type of movable connection between the fuselage 1 and the rotor head 2 provided that it allows a movement of the axis 11 of said rotor head in a cone of angle at the top at least between 10 and 20 degrees and preferably greater than 20 degrees.
  • the plate 13 preferably circular, carries on its periphery at least two studs 50, preferably placed 90 degrees from each other relative to the axis 11, and whose shapes are adapted to cooperate each with a control rod 51 by forming with said rod a ball joint.
  • This rod can be directly the output rod of one of the jacks 4 or 5 or preferably be connected to these jacks by a set of rods determined to limit or eliminate any interaction between the two actions in roll and pitch.
  • the jacks can be electric, hydraulic or pneumatic, with linear or rotary output, be connected to the rotor head 2 by any suitable type of transmission and be fixed to the fuselage by any type of mounting.
  • the motorization is advantageously produced with two air-cooled piston motors, placed symmetrically with respect to the plane of symmetry 38 of the fuselage 1 and each having a substantially vertical outlet axis 39.
  • the engines may each comprise one or more cylinders 40, the cylinders of the same engine preferably being mounted in parallel so that they can be placed outside and on each side of the fuselage 1. It is then not necessary to providing for forced cooling of said cylinders 40, natural cooling by the air displaced by the rotors 77 and 78 or by the speed being sufficient.
  • the energy transmission means 94 as also shown in FIG. 4, comprise,
  • At least one clutch 41 and at least one free wheel 42 having an output axis 43,
  • the speed reducer 44 consists of two small pinions 45, each mounted on an output axis 43 of the freewheels 42, and a large pinion 46 secured to a transmission shaft 47 oriented upwards.
  • the assembly is mounted in a casing 48 provided with a suitable lubrication device. Due to the relatively large spacing of the motors provided by the external arrangement of the cylinders, the reduction may be sufficient with a single gear train without reducing the size of the small pinions too much. The reduction ratio can thus be between 5 and 10 without particular difficulty.
  • the gimbal 49 is placed in the center of the nut 35. One of its ends is secured to the axis 16 of the rotor head, the other end is secured to the transmission shaft 47 leaving the speed reducer 44.
  • the possible travel of this gimbal is at least equal to the possible deflection of the ball joint and is therefore dimensioned to reach itself also ⁇ 20 degrees.
  • the motors 37 drive the clutches 41 via the output pins 39. These clutches drive the small pinions 45 and therefore the large pinion 46 by means of the freewheels 42 and axes 43.
  • the large pinion 46 drives the axis 16, via the transmission shaft 47 and the gimbal 49, through the ball joint 3.
  • the axis 16 directly drives the plate 19 which carries the blade feet 31 and the blades 30 of the upper rotor 77 It drives, via the grooves 29 and the part 27, the bevel gear 26.
  • This drives the two planet gears 24 and 25 around their fixed axes 14 and 15. These in turn drive, in a direction of rotation opposite to that of the bevel gear 26, the bevel gear 21 and the lower plate 20 which carries the blade feet 31 and the blades 30 of the lower rotor 78.
  • the blade feet 31 constitute the hinge and drag articulation necessary for the blades of any helicopter.
  • the blade feet produced for the helicopter according to the invention also allow the pitch of the blades to be adjusted. As shown in Figures 5a and 5b, they include:
  • a damping material 55 preferably cylindrical in shape, pierced with an axial hole whose diameter is substantially equal to that of the shoulder 75 of the shouldered screw 54,
  • - a set of support washers, at least one of which is conical, preferably elastic, and whose internal diameter is substantially equal to the diameter of the shoulder 75 of the screw 54.
  • the base 52 includes: - at one of its ends, a yoke 57 intended for fixing the blade root, by a screw 89, on one of the upper or lower plates 19 or 20, - to the other end, a reinforcement 58 extended by a shoulder 59 pierced in its center with a deep tapped hole 60 having an axis 61 substantially perpendicular to the axis 11 of the rotor head 2.
  • the reinforcement 58 is itself pierced by two tapped holes 62 intended for fixing a means for setting the pitch of the blade, means not shown and which may be any.
  • the blade support 53 of substantially cylindrical or rectangular section, successively comprises, FIG. 5b, from one of its ends 63: - a first recess 64 whose dimensions are substantially identical to those of the damping material 55,
  • the blade support also includes two tapped holes 70 intended for fixing the pitch setting means of the blade mentioned above.
  • the shouldered screw 54 first receives a washer 71 whose inner diameter is substantially equal to the diameter of its shoulder 75 and whose outer diameter is substantially identical to that of the head 93 of said screw 54. It receives then the conical washer 56, the upper part of the cone of said washer coming to bear on the washer 71. The point of contact between said conical washer 56 and said washer 71 forms an articulation zone 72.
  • the shouldered screw then receives a washer 74 whose internal diameter is substantially equal to the diameter of the recess 65 and whose external diameter is substantially equal to that of the recess
  • the beat and drag articulation zone 72 is therefore located on a contact ring between the conical washer 56 and the washer 71 in contact with the head 93 of the shouldered screw 54.
  • the blade support rotates around the area d hinge 72 by compressing the damping material 55 on the shoulder 75 of the screw 54.
  • This material 55 thus provides a double function of elasticity and damping.
  • the elasticity of the conical washer 56 allows it to deform during beat movements and to maintain a good distribution, on the surface of the screw head 54, of the centrifugal traction forces exerted by the rotating blade.
  • the stiffnesses and the damping coefficients of the joint are substantially identical for the two movements of beat and drag. If these parameters must be different, they can be adjusted by giving the recess a different shape, for example elliptical.
  • the setting of the incidence of the blade is done by rotation of the blade support 53, around the shoulder 75 of the screw 54, relative to the base 52, this setting being maintained by conventional means fixed to the using tapped holes 62 and 70 and not shown.
  • the adjustable daggerboard (s) 6 and 7 are articulated around one or two axes 76 sharply inclined towards the rear, of an angle v preferably between 35 and 55 degrees and advantageously substantially equal to 45 degrees.
  • the daggerboards 6 and 7 make it possible to act on the yaw orientation of the helicopter both in hovering flight and in translation flight. In hover, the vertical breath of rotors 77 and 78 acts alone on the daggerboards
  • - K is a coefficient depending on the aerodynamic parameters of the helicopter, the drift profile, the altitude and the temperature,
  • - S is the surface of the drift
  • - V is the speed of the air sent by the rotors
  • - v is the angle of inclination of the axis of the drift relative to the vertical
  • - ⁇ is the angle commanded to drift around its axis relative to a vertical plane.
  • This lateral component of the force creates a torque which turns the helicopter in yaw and allows it to be steered.
  • each of the drifts 6 and 7 a parallelepiped shape having two long sides 97 substantially parallel to the rear falling part of the fuselage and two short sides 98 substantially parallel to the axes of articulation 76. It is also interesting that these articulation axes 76 are located around the first third before drifts 6 and 7.
  • a single drift 6 this is preferably placed in the axis of the fuselage 1, at the rear as shown in FIG. 7.
  • the fuselage is shortened so as to provide an inclined fixing location of the axis of rotation 76 of said drift 6.
  • Said axis 76 also forming, with the vertical, an angle v preferably equal to 45 degrees.
  • control means 95 for orienting the rotor which can be included in one and the same calculation unit, include in particular: an angle generator 79 to be controlled from the rotor head 2,
  • the angle generator 79 provides two angles of orientation of the rotor head 2, respectively ⁇ in pitch and p in roll for example. These two angles represent the attitude that the rotor head 2 must take with respect to the vertical.
  • this angle generator may only consist of a means of adapting the orders sent by an external remote control and received by a remote control receiver 99.
  • the angles to be controlled ⁇ and p are those sent by the remote control.
  • the angle generator 79 develops the angles to be controlled ⁇ and p from information received from said navigation and guidance means, according to predetermined control laws , and taking into account any corrections or modifications received by the remote control receiver 99.
  • these predetermined control laws can be very complex and include terms developed from the angular acceleration components of the fuselage, the angular velocity components of said fuselage and the square of these components.
  • the vertical reference 80 may be very simple or more complex depending on the performance sought. It will include, for example, two accelerometers or inclinometers and three gyrometers associated with a computer capable of calculating, from acceleration and angular velocity information, the orientations ⁇ and ⁇ in pitch and roll of the fuselage representing the attitude of said fuselage with respect to vertically.
  • the order processor 81 draws up orientation orders for the rotor head 2, relative to the fuselage 1, such as the attitude of said rotor head is equal to the attitude controlled by the angle generator 79 increased by the attitude of the fuselage 1 relative to the vertical and this so that the attitude of the rotor head 2 relative to the vertical be the attitude which is controlled by all the remote control, navigation, guidance and piloting means.
  • the order processor 81 sends to the jacks 4 and 5 calculated orders so that, as a function of their response characteristics, they orient the rotor head 2 by making it make angles ⁇ and ⁇ respectively. relative to the fuselage 1.
  • the different angles as well as the jacks, assigned to pitch and roll can also correspond to combinations of pitch and roll and therefore be positioned differently around the axis 11 of the rotor head 2 without departing from the scope of the invention.
  • the number and location of the jacks can be arbitrary without departing from the scope of the invention.
  • the method of piloting the orientation of the rotors 77 and 78, relative to the vertical also applies to facilitate piloting of a helicopter with pendular piloting.
  • the principle consists in connecting the control handle 83 to the rotor head 2 by transmission means which hold the axis 11 of the rotor head 2 - i -
  • control handle 83 articulated around a pivot point 84, is connected, at a fixing point 85 located at its lower part 86, using cables 87 passing around pulleys 88, with two studs 50 placed on the plate 13 and used to control the orientation of the rotor head 2.
  • the distance separating the pivot point 84 and the fixing point 85 is equal to that separating each of the studs 50 of the axis 11 of the rotor head 2. It is then obvious that, for simple geometric reasons, the rotors 77 and 78 rotate at the same time as the handle 83 and by the same angle, the axis 11 rotors always remaining parallel to said stick 83.
  • the pilot's task is then simplified because it is easy for him to maneuver his stick to keep it fixed in space, in the desired direction to make the helicopter evolve, and this whatever the movements of the fuselage in which he sits .
  • the same principle is obviously applied to pitching without it being necessary to describe it further.
  • the cables 87 can of course be replaced by any other means such as rigid transmissions, hydraulic or electrical transmissions.
  • manual piloting can of course be assisted by automatic piloting, based on the same principles of control of orientation of the rotor head 2 as those described previously for the unmanned helicopter, and using the conventional means of switching from automatic piloting to manual piloting and vice versa.

Abstract

The invention concerns a helicopter with pendular piloting system and counter-rotating rotors whereof the rotor head (2) can be inclined by 20 degrees relative to the fuselage (1) and is piloted relative to the vertical independently of the movements of said fuselage. Thus, said helicopter has high manoeuvrability and stability enabling its use from steeply sloping grounds or on rolling and pitching mobile platforms such as ship decks. The invention is applicable to helicopters of all sizes, whether manned or unmanned.

Description

- - - -
HELICOPTERE A PILOTAGE PENDULAIRE A HAUTE STABILITE ET A GRANDE MANOEUVRABILITEHIGH STABILITY AND HIGHLY MANEUVERABLE PENDULAR HELICOPTER
La présente invention concerne la réalisation d'un hélicoptère à pilotage pendulaire caractérisé par une très grande manoeuvrabilité et par une stabilité intrinsèque. Dans un tel hélicoptère, la tête de rotor est fixée au fuselage au moyen d'une rotule qui lui permet d'être orientée en roulis et tangage, par rapport audit fuselage, par une commande de pilotage, à l'aide de vérins par exemple. Pour éviter des réactions gyroscopiques du rotor sur le fuselage, la tête de rotor d'un hélicoptère à pilotage pendulaire comprend normalement deux rotors tournant en sens inverse. Les hélicoptères classiques dont les mouvements du plan du rotor, commandés par des variations cycliques du pas des pales, ne dépassent pas 5 à 6 degrés par rapport au fuselage, ne peuvent pas décoller ou atterrir sur des surfaces inclinées de plus de quelques degrés et encore moins sur des surfaces mobiles en roulis ou tangage, ce qui limite fortement leur possibilités d'emploi ailleurs que sur des terrains préparés et notamment sur des bateaux.The present invention relates to the production of a pendulum piloted helicopter characterized by very great maneuverability and by intrinsic stability. In such a helicopter, the rotor head is fixed to the fuselage by means of a ball joint which allows it to be oriented in roll and pitch, with respect to said fuselage, by a piloting command, using jacks for example. . To avoid gyroscopic reactions of the rotor on the fuselage, the rotor head of a pendulum piloted helicopter normally comprises two rotors rotating in opposite directions. Conventional helicopters whose movements of the rotor plane, controlled by cyclic variations in the pitch of the blades, do not exceed 5 to 6 degrees relative to the fuselage, cannot take off or land on surfaces inclined by more than a few degrees and more less on mobile surfaces in roll or pitch, which greatly limits their employment possibilities elsewhere than on prepared ground and in particular on boats.
Le brevet américain n° 5 791 592 décrit un hélicoptère à pilotage pendulaire qui apporte une grande simplicité de construction car il supprime toute la mécanique complexe de variation du pas des pales d'un hélicoptère classique. Il conserve par contre les mêmes limitations de manoeuvre et de stabilité qu'un hélicoptère classique.US Patent No. 5,791,592 describes a pendulum piloted helicopter which provides great simplicity of construction since it eliminates all of the complex mechanics of varying the pitch of the blades of a conventional helicopter. On the other hand, it retains the same maneuverability and stability limitations as a conventional helicopter.
L'hélicoptère à pilotage pendulaire selon l'invention apporte un avantage décisif car, non seulement il présente une stabilité de pilotage intrinsèque, mais surtout il offre des possibilités de manoeuvre qui permettent d'effectuer des décollages et des atterrissages sur des terrains fortement inclinés ou encore sur des plates-formes fortement mobiles en roulis et tangage telles que des ponts de bateaux. L'invention consiste à utiliser la commande d'orientation de la tête de rotor par des vérins pour commander ladite orientation par rapport à la verticale, indépendamment de la position angulaire du fuselage et ceci dans un domaine d'au moins ± 10 degrés et pouvant être étendu à ± 20 degrés, de façon à pouvoir placer le plan des rotors à l'horizontale même si le fuselage est fortement incliné, ce qui permet de décoller et d'atterrir dans des conditions jusqu'alors interdites.The pendulum piloted helicopter according to the invention provides a decisive advantage because, not only does it have intrinsic piloting stability, but above all it offers maneuvering possibilities which make it possible to take off and land on highly inclined or still on highly mobile platforms in roll and pitch such as boat decks. The invention consists in using the orientation control of the rotor head by jacks to control said orientation with respect to the vertical, independently of the angular position of the fuselage and this in a range of at least ± 10 degrees and capable of be extended to ± 20 degrees, so that the plane of the rotors can be placed horizontally even if the fuselage is steeply inclined, which makes it possible to take off and land in conditions previously prohibited.
L'invention s'applique aussi bien à des aéronefs non pilotés qu'à des aéronefs pilotés, à moteurs thermiques ou électriques.The invention applies equally to non-piloted aircraft as to piloted aircraft, with thermal or electric motors.
L'invention concerne donc un hélicoptère à pilotage pendulaire du type comportant : - un fuselage muni d'une motorisation et de moyens de transmission d'énergie,The invention therefore relates to a pendulum piloted helicopter of the type comprising: - a fuselage provided with a motorization and means of energy transmission,
- une tête de rotor, comportant deux rotors contrarotatifs tournant autour d'un même axe, fixée au fuselage par une liaison mobile, - des vérins de commande de l'orientation de ladite tête de rotor par rapport au fuselage,- a rotor head, comprising two counter-rotating rotors rotating around the same axis, fixed to the fuselage by a movable link, - actuators for controlling the orientation of said rotor head relative to the fuselage,
- des moyens de commande desdits vérins, caractérisé en ce que la liaison mobile permet une orientation de l'axe de la tête de rotor par rapport au fuselage dans un cône de débattement dont l'angle au sommet est supérieur à 10 degrés.- Control means for said cylinders, characterized in that the movable connection allows an orientation of the axis of the rotor head relative to the fuselage in a deflection cone whose apex angle is greater than 10 degrees.
Des modes de réalisation de l'invention seront décrits ci- après, à titre d'exemples non limitatifs, avec référence aux dessins annexés dans lesquels :Embodiments of the invention will be described below, by way of nonlimiting examples, with reference to the appended drawings in which:
La figure 1 est une vue en perspective écorchée d'un hélicoptère à pilotage pendulaire selon l'invention dans un mode de réalisation sans pilote,FIG. 1 is a cutaway perspective view of a pendulum piloted helicopter according to the invention in an unmanned embodiment,
La figure 2 est une vue en coupe arrière de l'hélicoptère de la figure 1,FIG. 2 is a rear section view of the helicopter of FIG. 1,
La figure 3 est une vue en coupe détaillée de la tête rotor de l'hélicoptère de la figure 1, La figure 4 est une vue en coupe détaillée des moyens de transmissions de l'hélicoptère de la figure 1,FIG. 3 is a detailed section view of the rotor head of the helicopter of FIG. 1, FIG. 4 is a detailed section view of the transmission means of the helicopter of FIG. 1,
Les figures 5a et 5b sont des vues en coupe, d'un pied de pale de l'hélicoptère de la figure 1, la figure 5a étant une vue de l'ensemble du pied de pale et la figure 5b étant une vue du support de pale lui-même,FIGS. 5a and 5b are sectional views of a blade root of the helicopter of FIG. 1, FIG. 5a being a view of the whole of the blade root and FIG. 5b being a view of the support for pale himself,
La figure 6 est une vue de côté de l'hélicoptère de la figure 1 montrant le montage des dérives,FIG. 6 is a side view of the helicopter of FIG. 1 showing the mounting of the fins,
La figure 7 est une vue schématique de l'hélicoptère selon l'invention montrant le montage de la dérive dans le cas d'une dérive unique prolongeant le fuselage,FIG. 7 is a schematic view of the helicopter according to the invention showing the mounting of the fin in the case of a single fin extending the fuselage,
La figure 8 est un bloc diagramme des moyens de pilotage de l'hélicoptère selon l'invention,FIG. 8 is a block diagram of the means of piloting the helicopter according to the invention,
Les figures 9a et 9b sont des vues schématiques de l'hélicoptère selon l'invention montrant son principe de pilotage,FIGS. 9a and 9b are schematic views of the helicopter according to the invention showing its piloting principle,
La figure 10 est une vue schématique de l'hélicoptère selon l'invention illustrant sa maniabilité etFIG. 10 is a schematic view of the helicopter according to the invention illustrating its maneuverability and
La figure 11 est une vue schématique d'une variante à pilotage manuel de l'hélicoptère selon l'invention montrant son principe de pilotage.FIG. 11 is a schematic view of a variant with manual piloting of the helicopter according to the invention showing its piloting principle.
Les figures 1 et 2 montrent un exemple de réalisation non pilotée de l'hélicoptère à pilotage pendulaire selon l'invention. Il comporte :Figures 1 and 2 show an unmanned embodiment of the pendulum helicopter according to the invention. It comprises :
- un fuselage 1 réalisé en cornières d'aluminium ou en tout autre matériau et qui peut prendre n'importe quelle forme appropriée,a fuselage 1 made of aluminum angles or any other material and which can take any suitable form,
- une tête de rotor 2, reliée au fuselage 1 par une rotule 3, - des vérins, respectivement 4 et 5, reliant le fuselage 1 à la tête de rotor 2, de façon à commander l'orientation de ladite tête de rotor, en tangage et en roulis, par rapport audit fuselage 1,- a rotor head 2, connected to the fuselage 1 by a ball joint 3, - jacks, respectively 4 and 5, connecting the fuselage 1 to the rotor head 2, so as to control the orientation of said rotor head, pitch and roll, with respect to said fuselage 1,
- au moins une et de préférence deux dérives orientables 6 et 7. Le fuselage, monté sur un train d'atterrissage 8, de préférence à patins, comprend :- at least one and preferably two orientable drifts 6 and 7. The fuselage, mounted on a landing gear 8, preferably with skids, comprises:
- un ensemble de motorisation 9,- a motorization assembly 9,
- des moyens de transmission 94, vers la tête de rotor 2, de l'énergie issue de l'ensemble de motorisation 9,transmission means 94, towards the rotor head 2, of the energy coming from the motorization assembly 9,
- des moyens de commande des vérins 95.- means for controlling the jacks 95.
La tête de rotor 2, ainsi que le montre la figure 3, comprend :The rotor head 2, as shown in FIG. 3, comprises:
- un support central 10, sensiblement de révolution, ayant un axe vertical 11, monté, par sa partie inférieure 12, sur une plaque support 13 sensiblement perpendiculaire audit axe 11, et portant au moins deux petits axes, respectivement 14 et 15, perpendiculaires audit axe 11, lesdits petits axes étant préférentiellement réalisés à l'aide de vis épaulées, - un axe 16, de préférence creux, colinéaire de l'axe 11, traversant le support central 10 et la plaque 13, tournant entre deux roulements à billes, l'un 96 fixé dans ledit support central 10 et l'autre 17 fixé dans un couvercle 18, ledit axe 16 portant un plateau supérieur 19, - un plateau inférieur 20 centré sur l'axe 11, recevant un pignon conique 21 et formant avec celui-ci un logement pour un roulement 22 centré sur le support central 10,- A central support 10, substantially of revolution, having a vertical axis 11, mounted, by its lower part 12, on a support plate 13 substantially perpendicular to said axis 11, and carrying at least two small axes, respectively 14 and 15, perpendicular to said axis 11, said small axes being preferably produced using shouldered screws, - an axis 16, preferably hollow, collinear with axis 11, passing through the central support 10 and the plate 13, rotating between two ball bearings, one 96 fixed in said central support 10 and the other 17 fixed in a cover 18, said axis 16 carrying an upper plate 19, - a lower plate 20 centered on the axis 11, receiving a bevel gear 21 and forming with this housing for a bearing 22 centered on the central support 10,
- un boîtier 23, fixé sur le plateau inférieur 20 et fermé par le couvercle 18, - deux pignons coniques, respectivement 24 et 25, formant satellites et tournant autour des petits axes 14 et 15,- a housing 23, fixed on the lower plate 20 and closed by the cover 18, - two bevel gears, respectively 24 and 25, forming satellites and rotating around the small axes 14 and 15,
- un autre pignon conique 26, également colinéaire à l'axe 11, rendu solidaire de l'axe 16 par une pièce de révolution 27, formant avec ledit pignon 26 un logement pour un roulement 28 centré sur le support central 10, la pièce de révolution 27 et l'axe 16 étant eux-mêmes rendus solidaires en rotation par des canelures axiales 29,- another bevel gear 26, also collinear with the axis 11, made integral with the axis 16 by a part of revolution 27, forming with said pinion 26 a housing for a bearing 28 centered on the central support 10, the part of revolution 27 and the axis 16 being themselves made integral in rotation by axial grooves 29,
- au moins quatre pales 30 et de préférence six, figures 1 et 2, deux ou trois pales étant fixées par des pieds de pales 31 sur le plateau supérieur 19 pour former un rotor supérieur 77, les deux ou trois autres étant fixées, également par des pieds de pales 31, sur le plateau inférieur 20 pour former un rotor inférieur 78. La rotule 3, constituée comme un cardan, comprend :- At least four blades 30 and preferably six, Figures 1 and 2, two or three blades being fixed by blade feet 31 on the upper plate 19 to form an upper rotor 77, the other two or three being fixed, also by blade feet 31, on the lower plate 20 to form a lower rotor 78. The ball joint 3, made up like a cardan joint, comprises:
- une chape fixe 32, solidaire du fuselage 1, et dont le centre est évidé,a fixed yoke 32, integral with the fuselage 1, and the center of which is hollowed out,
- une chape mobile 33, constituée par deux excroissances 34 fixées sous la plaque 13 solidaire du support 10 de la tête de rotor 2,a movable yoke 33, constituted by two protuberances 34 fixed under the plate 13 secured to the support 10 of the rotor head 2,
- une noix 35, de forme annulaire, reliant la chape fixe 32 et la chape mobile 33 à l'aide de quatre vis épaulées 36 articulées dans lesdites chapes 32 et 33 et vissées dans ladite noix.- A nut 35, of annular shape, connecting the fixed yoke 32 and the movable yoke 33 using four shoulder screws 36 articulated in said yokes 32 and 33 and screwed in said nut.
La longueur des chapes 32 et 33, leurs évidements et le diamètre intérieur de la noix annulaire 35, sont dimensionnés pour laisser passer les moyens de transmission d'énergie décrits ci-après tout en assurant une liberté de mouvement angulaire de la tête de rotor 2 par rapport au fuselage 1 d'au moins ± 10 degrés et pouvant atteindre de préférence ± 20 degrés, de telle sorte que l'axe 11 de ladite tête de rotor 2 puisse être orienté dans un cône dont 1 ' angle au sommet est au moins compris entre 10 et 20 degrés et de préférence supérieur à 20 degrés.The length of the yokes 32 and 33, their recesses and the internal diameter of the annular nut 35, are dimensioned to allow the energy transmission means described below to pass while ensuring freedom of angular movement of the rotor head 2 with respect to the fuselage 1 of at least ± 10 degrees and possibly reaching ± 20 degrees, so that the axis 11 of said rotor head 2 can be oriented in a cone whose apex angle is at least between 10 and 20 degrees and preferably greater than 20 degrees.
Ladite rotule 3 peut bien entendu être remplacée par tout autre type de liaison mobile entre le fuselage 1 et la tête de rotor 2 pourvu qu'elle permette un débattement de l'axe 11 de ladite tête de rotor dans un cône d'angle au sommet au moins compris entre 10 et 20 degrés et de préférence supérieur à 20 degrés.Said ball joint 3 can of course be replaced by any other type of movable connection between the fuselage 1 and the rotor head 2 provided that it allows a movement of the axis 11 of said rotor head in a cone of angle at the top at least between 10 and 20 degrees and preferably greater than 20 degrees.
La plaque 13, de préférence circulaire, porte sur sa périphérie au moins deux plots 50, placés de préférence à 90 degrés l'un de l'autre par rapport à l'axe 11, et dont les formes sont adaptées pour coopérer chacun avec une tige de commande 51 en formant avec ladite tige une rotule. Cette tige peut être directement la tige de sortie d'un des vérins 4 ou 5 ou de préférence être reliée à ces vérins par un jeu de biellettes déterminé pour limiter ou supprimer toute interraction entre les deux actions en roulis et tangage. Plus généralement les vérins peuvent être électriques, hydrauliques ou pneumatiques, à sortie linéaire ou rotative, être reliés à la tête de rotor 2 par tout type de transmission approprié et être fixés au fuselage par tout type de montage.The plate 13, preferably circular, carries on its periphery at least two studs 50, preferably placed 90 degrees from each other relative to the axis 11, and whose shapes are adapted to cooperate each with a control rod 51 by forming with said rod a ball joint. This rod can be directly the output rod of one of the jacks 4 or 5 or preferably be connected to these jacks by a set of rods determined to limit or eliminate any interaction between the two actions in roll and pitch. More generally, the jacks can be electric, hydraulic or pneumatic, with linear or rotary output, be connected to the rotor head 2 by any suitable type of transmission and be fixed to the fuselage by any type of mounting.
La motorisation, figure 4, est avantageusement réalisée avec deux moteurs à piston à refroidissement par air, placés symétriquement par rapport au plan de symétrie 38 du fuselage 1 et ayant chacun un axe de sortie 39 sensiblement vertical. Les moteurs peuvent comporter chacun un ou plusieurs cylindres 40, les cylindres d'un même moteur étant de préférence montés en parallèle de façon à pouvoir être placés à l'extérieur et de chaque coté du fuselage 1. Il n'est alors pas nécessaire de prévoir un refroidissement forcé desdits cylindres 40, le refroidissement naturel par l'air déplacé par les rotors 77 et 78 ou par la vitesse étant suffisant.The motorization, FIG. 4, is advantageously produced with two air-cooled piston motors, placed symmetrically with respect to the plane of symmetry 38 of the fuselage 1 and each having a substantially vertical outlet axis 39. The engines may each comprise one or more cylinders 40, the cylinders of the same engine preferably being mounted in parallel so that they can be placed outside and on each side of the fuselage 1. It is then not necessary to providing for forced cooling of said cylinders 40, natural cooling by the air displaced by the rotors 77 and 78 or by the speed being sufficient.
Les moyens de transmission d'énergie 94, ainsi que le montre également la figure 4, comportent,The energy transmission means 94, as also shown in FIG. 4, comprise,
- comme pour tout hélicoptère, au moins un embrayage 41 et au moins une roue libre 42 ayant un axe de sortie 43,- as with any helicopter, at least one clutch 41 and at least one free wheel 42 having an output axis 43,
- un réducteur de vitesse 44,- a speed reducer 44,
- un cardan 49.- a gimbal 49.
Le réducteur de vitesse 44 est constitué de deux petits pignons 45, montés chacun sur un axe de sortie 43 des roues libres 42, et d'un grand pignon 46 solidaire d'un arbre de transmission 47 orienté vers le haut. L'ensemble est monté dans un carter 48 muni d'un dispositif de lubrification adapté. Du fait de 1 ' écartement relativement important des moteurs apporté par la disposition extérieure des cylindres, la réduction peut être suffisante avec un seul train de pignon sans trop réduire la taille des petits pignons. Le rapport de réduction peut ainsi être compris entre 5 et 10 sans difficulté particulière.The speed reducer 44 consists of two small pinions 45, each mounted on an output axis 43 of the freewheels 42, and a large pinion 46 secured to a transmission shaft 47 oriented upwards. The assembly is mounted in a casing 48 provided with a suitable lubrication device. Due to the relatively large spacing of the motors provided by the external arrangement of the cylinders, the reduction may be sufficient with a single gear train without reducing the size of the small pinions too much. The reduction ratio can thus be between 5 and 10 without particular difficulty.
Le cardan 49 est placé au centre de la noix 35. Une de ses extrémités est solidaire de l'axe 16 de la tête de rotor, l'autre extrémité est solidaire de l'arbre de transmission 47 sortant du réducteur de vitesse 44. Le débattement possible de ce cardan est au moins égal au débattement possible de la rotule et est donc dimensionné pour atteindre lui-aussi ± 20 degrés .The gimbal 49 is placed in the center of the nut 35. One of its ends is secured to the axis 16 of the rotor head, the other end is secured to the transmission shaft 47 leaving the speed reducer 44. The possible travel of this gimbal is at least equal to the possible deflection of the ball joint and is therefore dimensioned to reach itself also ± 20 degrees.
Ainsi décrit, l'ensemble des moyens de transmission 94 et de la tête de rotor 2 fonctionne comme suit :Thus described, all of the transmission means 94 and of the rotor head 2 operate as follows:
Les moteurs 37 entraînent les embrayages 41 par l'intermédiaire des axes de sortie 39. Ces embrayages entraînent les petits pignons 45 et donc le grand pignon 46 par l'intermédiaire des roues libres 42 et des axes 43. Le grand pignon 46 entraîne l'axe 16, par l'intermédiaire de l'arbre de transmission 47 et du cardan 49, au travers de la rotule 3. L'axe 16 entraîne directement le plateau 19 qui porte les pieds de pales 31 et les pales 30 du rotor supérieur 77. Il entraîne, par l'intermédiaire des canelures 29 et de la pièce 27, le pignon conique 26. Celui-ci entraîne les deux pignons satellites 24 et 25 autour de leurs axes fixes 14 et 15. Ceux-ci entraînent à leur tour, dans un sens de rotation inverse à celui du pignon conique 26, le pignon conique 21 et le plateau inférieur 20 qui porte les pieds de pales 31 et les pales 30 du rotor inférieur 78.The motors 37 drive the clutches 41 via the output pins 39. These clutches drive the small pinions 45 and therefore the large pinion 46 by means of the freewheels 42 and axes 43. The large pinion 46 drives the axis 16, via the transmission shaft 47 and the gimbal 49, through the ball joint 3. The axis 16 directly drives the plate 19 which carries the blade feet 31 and the blades 30 of the upper rotor 77 It drives, via the grooves 29 and the part 27, the bevel gear 26. This drives the two planet gears 24 and 25 around their fixed axes 14 and 15. These in turn drive, in a direction of rotation opposite to that of the bevel gear 26, the bevel gear 21 and the lower plate 20 which carries the blade feet 31 and the blades 30 of the lower rotor 78.
Les pieds de pales 31 constituent l'articulation de battement et de traînée nécessaire pour les pales de tout hélicoptère. Les pieds de pales réalisés pour l'hélicoptère selon 1 * invention permettent également le calage du pas des pales . Ainsi que le montrent les figures 5a et 5b, ils comportent :The blade feet 31 constitute the hinge and drag articulation necessary for the blades of any helicopter. The blade feet produced for the helicopter according to the invention also allow the pitch of the blades to be adjusted. As shown in Figures 5a and 5b, they include:
- une pièce allongée formant embase 52, - un support de pale 53,an elongated part forming a base 52, a blade support 53,
- une pièce 54 en forme de vis épaulée ayant une tête 93 et un épaulement 75 formant un axe,a piece 54 in the form of a shouldered screw having a head 93 and a shoulder 75 forming an axis,
- un matériau amortisseur 55, de forme préférentiellement cylindrique, percé d'un trou axial dont le diamètre est sensiblement égal à celui de l' épaulement 75 de la vis épaulée 54,a damping material 55, preferably cylindrical in shape, pierced with an axial hole whose diameter is substantially equal to that of the shoulder 75 of the shouldered screw 54,
- un jeu de rondelles d'appui dont une au moins 56 est conique, de préférence élastique, et dont le diamètre intérieur est sensiblement égal au diamètre de l' épaulement 75 de la vis 54.- a set of support washers, at least one of which is conical, preferably elastic, and whose internal diameter is substantially equal to the diameter of the shoulder 75 of the screw 54.
L'embase 52 comporte : - à l'une de ses extrémités, une chape 57 destinée à la fixation du pied de pale, par une vis 89, sur l'un des plateaux supérieur ou inférieur 19 ou 20, - à l'autre extrémité, un renfort 58 prolongé par un épaulement 59 percé en son centre d'un trou taraudé profond 60 ayant un axe 61 sensiblement perpendiculaire à l'axe 11 de la tête de rotor 2.The base 52 includes: - at one of its ends, a yoke 57 intended for fixing the blade root, by a screw 89, on one of the upper or lower plates 19 or 20, - to the other end, a reinforcement 58 extended by a shoulder 59 pierced in its center with a deep tapped hole 60 having an axis 61 substantially perpendicular to the axis 11 of the rotor head 2.
Le renfort 58 est lui même percé de deux trous taraudés 62 destinés à la fixation d'un moyen de calage du pas de la pale, moyen non représenté et qui peut être quelconque .The reinforcement 58 is itself pierced by two tapped holes 62 intended for fixing a means for setting the pitch of the blade, means not shown and which may be any.
Le support de pale 53, de section sensiblement cylindrique ou rectangulaire, comporte successivement, figure 5b, à partir de l'une de ses extrémités 63 : - un premier évidement 64 dont les dimensions sont sensiblement identiques à celles du matériau amortisseur 55,The blade support 53, of substantially cylindrical or rectangular section, successively comprises, FIG. 5b, from one of its ends 63: - a first recess 64 whose dimensions are substantially identical to those of the damping material 55,
- un second évidement 65 relativement court et dont le diamètre est très légèrement supérieur au diamètre de l' épaulement 75 de la vis 54, - un troisième évidement 66 dont le diamètre est supérieur à celui de la tête de la vis 54 et égal au diamètre extérieur de la rondelle conique 56, le deuxième évidement 65 et ce troisième évidement 66 étant reliés par une surface anulaire plane formant lamage 67, - une fente épaisse 68, formant chape, destinée à la fixation de la pale 30 elle-même à l'aide d'une vis 69, ladite fente se trouvant à l'autre extrémité 73 dudit support de pale 53.- a second recess 65 relatively short and whose diameter is very slightly greater than the diameter of the shoulder 75 of the screw 54, - a third recess 66 whose diameter is greater than that of the head of the screw 54 and equal to the diameter outside of the conical washer 56, the second recess 65 and this third recess 66 being connected by a planar annular surface forming countersink 67, - a thick slot 68, forming a yoke, intended for fixing the blade 30 itself to the using a screw 69, said slot being at the other end 73 of said blade support 53.
Le support de pale comporte également deux trous taraudés 70 destinés à la fixation du moyen de calage du pas de la pale évoqué ci-dessus. Pour le montage, la vis épaulée 54 reçoit tout d'abord une rondelle 71 dont le diamètre intérieur est sensiblement égal au diamètre de son épaulement 75 et dont le diamètre extérieur est sensiblement identique à celui de la tête 93 de ladite vis 54. Elle reçoit ensuite la rondelle conique 56, la partie haute du cône de ladite rondelle venant en appui sur la rondelle 71. Le point de contact entre ladite rondelle conique 56 et ladite rondelle 71 forme une zone d'articulation 72. La vis épaulée reçoit ensuite une rondelle 74 dont le diamètre intérieur est sensiblement égal au diamètre de l' évidement 65 et dont le diamètre extérieur est sensiblement égal à celui de l' évidementThe blade support also includes two tapped holes 70 intended for fixing the pitch setting means of the blade mentioned above. For mounting, the shouldered screw 54 first receives a washer 71 whose inner diameter is substantially equal to the diameter of its shoulder 75 and whose outer diameter is substantially identical to that of the head 93 of said screw 54. It receives then the conical washer 56, the upper part of the cone of said washer coming to bear on the washer 71. The point of contact between said conical washer 56 and said washer 71 forms an articulation zone 72. The shouldered screw then receives a washer 74 whose internal diameter is substantially equal to the diameter of the recess 65 and whose external diameter is substantially equal to that of the recess
66. Ladite vis 54 est ensuite introduite dans le support de pale 53 par l'extrémité 73 et vient traverser l' évidement 65, la rondelle 74 venant prendre appui sur le lamage 67. Le matériau amortisseur 55 est enfilé sur l' épaulement 75 de la vis 54, à l'intérieur de l' évidement 64 du support de pale, et ladite vis 54 est vissée dans le trou taraudé 60 de l'embase de pied de pale 52 de façon à en être rendue parfaitement solidaire. La longueur du matériau amortisseur est déterminée pour remplir presque complètement l' évidement 64 et la longueur de l' épaulement 75 de la vis 54 est déterminé pour que, une fois ladite vis vissée dans le trou taraudé 60, il reste un léger jeu 90 entre l' épaulement 59 et le matériau amortisseur66. Said screw 54 is then introduced into the blade support 53 through the end 73 and passes through the recess 65, the washer 74 coming to bear on the counterbore 67. The damping material 55 is threaded on the shoulder 75 of the screw 54, inside the recess 64 of the blade support, and said screw 54 is screwed into the tapped hole 60 of the blade base 52 so as to be made perfectly integral therewith. The length of the damping material is determined to fill the recess 64 almost completely and the length of the shoulder 75 of the screw 54 is determined so that, after said screw is screwed into the tapped hole 60, there remains a slight clearance 90 between the shoulder 59 and the damping material
55.55.
La zone d'articulation de battement et de traînée 72 se trouve donc située sur un anneau de contact entre la rondelle conique 56 et la rondelle 71 en contact de la tête 93 de la vis épaulée 54. Lors des mouvements de battement ou de traînée de la pale qui sont des rotations perpendiculaires à l'axe 61, les mouvements de battement correspondant à des mouvement verticaux de la pale et les mouvements de trainée correspondant à des mouvements horizontaux de celle-ci, le support de pale tourne autour de la zone d'articulation 72 en comprimant le matériau amortisseur 55 sur l' épaulement 75 de la vis 54. Ce matériau 55 assure ainsi une double fonction d'élasticité et d'amortissement. L'élasticité de la rondelle conique 56 permet à celle-ci de se déformer lors des mouvements de battements et de maintenir une bonne répartition, sur la surface de la tête de vis 54, des forces de traction centrifuge exercées par la pale en rotation.The beat and drag articulation zone 72 is therefore located on a contact ring between the conical washer 56 and the washer 71 in contact with the head 93 of the shouldered screw 54. During the beat or drag movements of the blade which are rotations perpendicular to the axis 61, the flapping movements corresponding to vertical movements of the blade and the drag movements corresponding to horizontal movements of the latter, the blade support rotates around the area d hinge 72 by compressing the damping material 55 on the shoulder 75 of the screw 54. This material 55 thus provides a double function of elasticity and damping. The elasticity of the conical washer 56 allows it to deform during beat movements and to maintain a good distribution, on the surface of the screw head 54, of the centrifugal traction forces exerted by the rotating blade.
Lorsque l' évidement 64 et le matériau amortisseur 55 sont de forme cylindrique, les raideurs et les coefficients d'amortissement de l'articulation sont sensiblement identiques pour les deux mouvements de battement et de traînée. Si ces paramètres doivent être différents, ils peuvent être ajustés en donnant à 1 'évidement une forme différente, elliptique par exemple.When the recess 64 and the damping material 55 are of cylindrical shape, the stiffnesses and the damping coefficients of the joint are substantially identical for the two movements of beat and drag. If these parameters must be different, they can be adjusted by giving the recess a different shape, for example elliptical.
Le calage de 1 ' incidence de la pale se fait par rotation du support de pale 53, autour de l' épaulement 75 de la vis 54, par rapport à l'embase 52, ce calage étant maintenu par un moyen classique fixé à l'aide des trous taraudés 62 et 70 et non représenté.The setting of the incidence of the blade is done by rotation of the blade support 53, around the shoulder 75 of the screw 54, relative to the base 52, this setting being maintained by conventional means fixed to the using tapped holes 62 and 70 and not shown.
Ainsi que le montre la figure 6, la ou les dérives orientables 6 et 7 sont articulées autour d'un ou de deux axes 76 fortement inclinés vers l'arrière, d'un angle v de préférence compris entre 35 et 55 degrés et avantageusement sensiblement égal à 45 degrés. Ainsi montées et commandées par exemple par des vérins non représentés, les dérives 6 et 7 permettent d'agir sur l'orientation en lacet de l'hélicoptère aussi bien en vol stationnaire qu'en vol de translation. En vol stationnaire, le souffle vertical des rotors 77 et 78 agit seul sur les dérivesAs shown in FIG. 6, the adjustable daggerboard (s) 6 and 7 are articulated around one or two axes 76 sharply inclined towards the rear, of an angle v preferably between 35 and 55 degrees and advantageously substantially equal to 45 degrees. Thus mounted and controlled for example by jacks not shown, the daggerboards 6 and 7 make it possible to act on the yaw orientation of the helicopter both in hovering flight and in translation flight. In hover, the vertical breath of rotors 77 and 78 acts alone on the daggerboards
6 et 7 en créant une force dont la composante horizontale, perpendiculaire au plan de symétrie 38, est égale, pour chaque dérive, à K.S.V . sinv.sinδ où :6 and 7 by creating a force whose horizontal component, perpendicular to the plane of symmetry 38, is equal, for each drift, to K.S.V. sinv.sinδ where:
- K est un coefficient dépendant des paramètres aérodynamiques de l'hélicoptère, du profil de la dérive, de l'altitude et de la température,- K is a coefficient depending on the aerodynamic parameters of the helicopter, the drift profile, the altitude and the temperature,
- S est la surface de la dérive, - V est la vitesse de l'air envoyé par les rotors,- S is the surface of the drift, - V is the speed of the air sent by the rotors,
- v est l'angle d'inclinaison de l'axe de la dérive par rapport à la verticale, - δ est l'angle commandé à la dérive autour de son axe par rapport à un plan vertical .- v is the angle of inclination of the axis of the drift relative to the vertical, - δ is the angle commanded to drift around its axis relative to a vertical plane.
Cette composante latérale de la force crée un couple de rotation qui vient faire tourner en lacet l'hélicoptère et permet de le diriger.This lateral component of the force creates a torque which turns the helicopter in yaw and allows it to be steered.
En vol de translation, la vitesse de translation vient se combiner à la vitesse verticale de l'air pour donner un flux qui fait avec la verticale un angle τ qui dépend de la vitesse de translation et de la vitesse verticale de l'air nécessaire à la sustentation de l'hélicoptère. La composante horizontale et perpendiculaire au plan de symétrie de la force s'écrit alors :In translation flight, the translation speed is combined with the vertical speed of the air to give a flow which makes an angle with the vertical τ which depends on the translation speed and the vertical speed of the air necessary to the lift of the helicopter. The horizontal component perpendicular to the plane of symmetry of the force is then written:
K.S.V^.sin(v + τ) .sinδK.S.V ^ .sin (v + τ) .sinδ
Dans le cas de deux dérives 6 et 7, figures 1 et 6, les deux axes 76 sont fixés par chacune de leurs extrémités à deux supports 91 et 92 solidaires de la partie arrière du fuselage. Il est alors intéressant de donner à chacune des dérives 6 et 7 une forme parallépipédique ayant deux grands côtés 97 sensiblement parallèles à la partie tombante arrière du fuselage et deux petits côtés 98 sensiblement parallèles aux axes d'articulation 76. Il est également intéressant que ces axes d'articulation 76 soient situés aux environs du premier tiers avant des dérives 6 et 7.In the case of two fins 6 and 7, Figures 1 and 6, the two axes 76 are fixed by each of their ends to two supports 91 and 92 integral with the rear part of the fuselage. It is then advantageous to give each of the drifts 6 and 7 a parallelepiped shape having two long sides 97 substantially parallel to the rear falling part of the fuselage and two short sides 98 substantially parallel to the axes of articulation 76. It is also interesting that these articulation axes 76 are located around the first third before drifts 6 and 7.
Dans le cas d'une seule dérive 6, celle-ci est de préférence placée dans l'axe du fuselage 1, à l'arrière ainsi que le montre la figure 7. Le fuselage est raccourci de façon à aménager un emplacement incliné de fixation de l'axe de rotation 76 de ladite dérive 6. Ledit axe 76 faisant également, avec la verticale, un angle v préférentiellement égal à 45 degrés .In the case of a single drift 6, this is preferably placed in the axis of the fuselage 1, at the rear as shown in FIG. 7. The fuselage is shortened so as to provide an inclined fixing location of the axis of rotation 76 of said drift 6. Said axis 76 also forming, with the vertical, an angle v preferably equal to 45 degrees.
Ainsi que le montre la figure 8, Les moyens de commande 95 d'orientation du rotor, qui peuvent être inclus dans un seul et même boîtier de calcul, comportent notamment : - un générateur d'angles 79 à commander à la tête de rotor 2,As shown in FIG. 8, the control means 95 for orienting the rotor, which can be included in one and the same calculation unit, include in particular: an angle generator 79 to be controlled from the rotor head 2,
- une référence de verticale 80,- a vertical reference 80,
- un élaborateur d'ordre 81,- an order processor 81,
- au moins deux vérins 4 et 5.- at least two cylinders 4 and 5.
Le générateur d'angles 79 fournit deux angles d'orientation de la tête de rotor 2, respectivement β en tangage et p en roulis par exemple. Ces deux angles représentent l'attitude que doit prendre la tête de rotor 2 par rapport à la verticale. Dans une version de base, ce générateur d'angles peut n'être constitué que d'un moyen d'adaptation des ordres envoyés par une télécommande extérieure et reçus par un récepteur de télécommande 99. Dans ce cas, les angles à commander β et p sont ceux envoyés par la télécommande. Dans une version plus automatisée, munie de moyens de navigation et de guidage 82, le générateur d'angle 79 élabore les angles à commander β et p à partir des informations reçues desdits moyens de navigation et de guidage, en fonction de lois de commandes prédéterminées, et en tenant compte d'éventuelles corrections ou modifications reçues par le récepteur de télécommande 99.The angle generator 79 provides two angles of orientation of the rotor head 2, respectively β in pitch and p in roll for example. These two angles represent the attitude that the rotor head 2 must take with respect to the vertical. In a basic version, this angle generator may only consist of a means of adapting the orders sent by an external remote control and received by a remote control receiver 99. In this case, the angles to be controlled β and p are those sent by the remote control. In a more automated version, provided with navigation and guidance means 82, the angle generator 79 develops the angles to be controlled β and p from information received from said navigation and guidance means, according to predetermined control laws , and taking into account any corrections or modifications received by the remote control receiver 99.
A noter que ces lois de commandes prédéterminées peuvent être très complexes et comporter des termes élaborés à partir des composantes d'accélération angulaire du fuselage, des composantes de vitesse angulaire dudit fuselage et du carré de ces composantes .Note that these predetermined control laws can be very complex and include terms developed from the angular acceleration components of the fuselage, the angular velocity components of said fuselage and the square of these components.
La référence de verticale 80 peut-être très simple ou plus complexe en fonction des performances recherchées. Elle comportera par exemple deux accélérometres ou inclinomètres et trois gyromètres associés à un calculateur capable de calculer, à partir des informations d'accélération et de vitesse angulaire, les orientations α et φ en tangage et roulis du fuselage représentant l'attitude dudit fuselage par rapport à la verticale.The vertical reference 80 may be very simple or more complex depending on the performance sought. It will include, for example, two accelerometers or inclinometers and three gyrometers associated with a computer capable of calculating, from acceleration and angular velocity information, the orientations α and φ in pitch and roll of the fuselage representing the attitude of said fuselage with respect to vertically.
L' élaborateur d'ordre 81 élabore des ordres d'orientation de la tête de rotor 2, par rapport au fuselage 1, tels que l'attitude de ladite tête de rotor soit égale à l'attitude commandée par le générateur d'angle 79 augmentée de l'attitude du fuselage 1 par rapport à la verticale et ceci de façon que l'attitude de la tête de rotor 2 par rapport à la verticale soit bien l'attitude qui lui est commandée par l'ensemble des moyens de télécommande, de navigation, de guidage et de pilotage. A cet fin l 'élaborateur d'ordre 81 envoie aux vérins 4 et 5 des ordres calculés pour que, en fonction de leurs caractéristiques de réponse, ceux-ci orientent la tête de rotor 2 en lui faisant faire des angles respectivement γ et σ par rapport au fuselage 1. Les angles γ et σ sont eux mêmes calculés respectivement par γ = β + α et σ = p + φ. Ainsi que le montrent les figures 9a et 9b respectivement pour le tangage et le roulis. De cette façon, les ordres envoyés aux vérins 4 et 5 tiennent compte de l'orientation instantanée du fuselage 1 pour commander l'orientation de la tête de rotor 2 et l'orientent pour qu'elle fasse bien les angles β et p par rapport à la verticale, indépendamment de la position angulaire dudit fuselage 1. La position des rotors 77 et 78 est ainsi découplée de la position du fuselage 1 et celui-ci est alors suspendu comme un pendule sous la tête de rotor 2. Si les angles commandés β et p sont nuls, le plan des rotors 77 et 78 reste horizontal et parfaitement stable. Les oscillations éventuelles du fuselage formant pendule sont amorties par les frottements du flux d'air autour du fuselage et l'hélicoptère devient intrinsèquement stable du fait du procédé de commande de 1 ' orientation des rotors .The order processor 81 draws up orientation orders for the rotor head 2, relative to the fuselage 1, such as the attitude of said rotor head is equal to the attitude controlled by the angle generator 79 increased by the attitude of the fuselage 1 relative to the vertical and this so that the attitude of the rotor head 2 relative to the vertical be the attitude which is controlled by all the remote control, navigation, guidance and piloting means. To this end, the order processor 81 sends to the jacks 4 and 5 calculated orders so that, as a function of their response characteristics, they orient the rotor head 2 by making it make angles γ and σ respectively. relative to the fuselage 1. The angles γ and σ are themselves calculated respectively by γ = β + α and σ = p + φ. As shown in Figures 9a and 9b respectively for pitch and roll. In this way, the orders sent to the jacks 4 and 5 take account of the instantaneous orientation of the fuselage 1 to control the orientation of the rotor head 2 and orient it so that it makes the angles β and p relative to it vertically, independently of the angular position of said fuselage 1. The position of rotors 77 and 78 is thus decoupled from the position of fuselage 1 and the latter is then suspended like a pendulum under the rotor head 2. If the angles controlled β and p are zero, the plane of rotors 77 and 78 remains horizontal and perfectly stable. The possible oscillations of the pendulum fuselage are damped by the friction of the air flow around the fuselage and the helicopter becomes intrinsically stable due to the method of controlling the orientation of the rotors.
Si un angle β est commandé en tangage par le vérin 4, vers l'avant par exemple, le plan des rotors 77 et 78 s'incline très rapidement de cet angle β et fait apparaître instantanément une force horizontale P.sinβ, P étant la portance des rotors 77 et 78, égale et opposée au poids de l'hélicoptère, figure 10. Cette force est transmise au fuselage 1, au niveau de la rotule 3 située à une hauteur h au dessus du centre de gravité G dudit fuselage 1. Celui-ci subit alors d'une part une accélération sinβ.g et d'autre part un couple de tangage égal à [P.h.sin(β - α)], couple qui va incliner le fuselage vers l'avant avec une accélération angulaire égale à [P.h.sin(β - α)]/I, I étant le moment d'inertie de l'hélicoptère autour de son centre de gravité. On conçoit donc que la mise en vitesse par l'accélération sinβ.g, et donc la maniabilité d'un tel hélicoptère, soit beaucoup plus grande que celle d'un hélicoptère classique dès lors que l'angle β maximum peut atteindre 20 degrés au lieu de 6 degrés. La même accélération sinβ.g n'est atteinte sur un hélicoptère classique, dont le débattement du rotor par rapport à son axe est limité à 6 degrés, qu'après que son fuselage se soit lui-même incliné de 14 degrés, sous l'effet du couple de basculement, de façon à ce que son rotor puisse être lui-même incliné du même angle β égal à 20 degrés, ce qui est beaucoup plus long que le temps nécessaire au basculement de la tête de rotor 2 de l'hélicoptère selon l'invention.If an angle β is controlled in pitch by the jack 4, towards the front for example, the plane of the rotors 77 and 78 tilts very quickly by this angle β and instantly causes a horizontal force P.sinβ to appear, P being the lift of rotors 77 and 78, equal and opposite to the weight of the helicopter, FIG. 10. This force is transmitted to the fuselage 1, at the level of the ball joint 3 located at a height h above the center of gravity G of said fuselage 1. This one then undergoes on the one hand an acceleration sinβ.g and on the other hand a pitching torque equal to [Phsin (β - α)], couple which will tilt the fuselage towards the front with an angular acceleration equal to [Phsin (β - α)] / I, I being the moment of inertia of the helicopter around its center of gravity. It is therefore understandable that the setting in speed by the acceleration sinβ.g, and therefore the maneuverability of such a helicopter, is much greater than that of a conventional helicopter as soon as the maximum angle β can reach 20 degrees at instead of 6 degrees. The same acceleration sinβ.g is only achieved on a conventional helicopter, whose movement of the rotor relative to its axis is limited to 6 degrees, only after its fuselage has itself tilted 14 degrees, under the effect of the tilting torque, so that its rotor can itself be tilted by the same angle β equal to 20 degrees, which is much longer than the time required for the tilting of the rotor head 2 of the helicopter according to the invention.
Les déplacements latéraux et les rotations en roulis obéissent aux mêmes lois que les déplacements et rotations en tangage décrits ci-dessus, sans qu'ils soit nécessaire de les décrire plus en détails.Lateral displacements and roll rotations obey the same laws as the pitch displacements and rotations described above, without it being necessary to describe them in more detail.
Il faut noter que, pour des questions de commodités, les différents angles ainsi que les vérins, attribués au tangage et au roulis, peuvent également correspondre à des combinaisons du tangage et du roulis et donc être positionnés différemment autour de l'axe 11 de la tête de rotor 2 sans sortir du cadre de l'invention. De la même façon, et pour assurer une redondance des commandes, le nombre et l'emplacement des vérins peut être quelconque sans sortir du cadre de l'invention.It should be noted that, for reasons of convenience, the different angles as well as the jacks, assigned to pitch and roll, can also correspond to combinations of pitch and roll and therefore be positioned differently around the axis 11 of the rotor head 2 without departing from the scope of the invention. Similarly, and to ensure redundancy of the controls, the number and location of the jacks can be arbitrary without departing from the scope of the invention.
Ainsi que le montre très schématiquement la figure 11 pour le pilotage en roulis, la méthode de pilotage de l'orientation des rotors 77 et 78, par rapport à la verticale, s'applique également pour faciliter le pilotage d'un hélicoptère à pilotage pendulaire piloté manuellement à l'aide d'un manche de commande 83 par exemple. Le principe consiste à relier le manche de commande 83 à la tête de rotor 2 par des moyens de transmission qui maintiennent l'axe 11 de la tête de rotor 2 - i -As shown very diagrammatically in FIG. 11 for roll piloting, the method of piloting the orientation of the rotors 77 and 78, relative to the vertical, also applies to facilitate piloting of a helicopter with pendular piloting. piloted manually using a control stick 83 for example. The principle consists in connecting the control handle 83 to the rotor head 2 by transmission means which hold the axis 11 of the rotor head 2 - i -
parallèle au manche de commande 83. A cet effet, le manche de commande 83, articulé autour d'un point de pivotement 84, est relié, en un point de fixation 85 situé à sa partie inférieure 86, à l'aide de câbles 87 passant autour de poulies 88, à deux plots 50 placés sur la plaque 13 et servant à commander l'orientation de la tête de rotor 2. La distance séparant le point de pivotement 84 et le point de fixation 85 est égale à celle séparant chacun des plots 50 de l'axe 11 de la tête de rotor 2. Il est alors évident que, pour des raisons géométriques simples, les rotors 77 et 78 tournent en même temps que le manche 83 et d'un même angle, l'axe 11 des rotors restant toujours parallèle audit manche 83. La tâche du pilote est alors simplifiée car il lui est facile de manoeuvrer son manche pour le maintenir fixe dans l'espace, dans la direction souhaitée pour faire évoluer l'hélicoptère, et ceci quels que soient les mouvements du fuselage dans lequel il est assis. Le même principe est évidemment appliqué au tangage sans qu'il soit besoin de le décrire plus avant. Les câbles 87 peuvent bien entendu être remplacés par tout autre moyens tels que des transmissions rigides, des transmissions hydrauliques ou encore électriques. Sur un tel hélicoptère, le pilotage manuel peut bien entendu être assisté d'un pilotage automatique, basé sur les mêmes principes de commande d'orientation de la tête de rotor 2 que ceux décrits précédemment pour l'hélicoptère non piloté, et en utilisant les moyens classiques de passage du pilotage automatique au pilotage manuel et réciproquement. parallel to the control handle 83. To this end, the control handle 83, articulated around a pivot point 84, is connected, at a fixing point 85 located at its lower part 86, using cables 87 passing around pulleys 88, with two studs 50 placed on the plate 13 and used to control the orientation of the rotor head 2. The distance separating the pivot point 84 and the fixing point 85 is equal to that separating each of the studs 50 of the axis 11 of the rotor head 2. It is then obvious that, for simple geometric reasons, the rotors 77 and 78 rotate at the same time as the handle 83 and by the same angle, the axis 11 rotors always remaining parallel to said stick 83. The pilot's task is then simplified because it is easy for him to maneuver his stick to keep it fixed in space, in the desired direction to make the helicopter evolve, and this whatever the movements of the fuselage in which he sits . The same principle is obviously applied to pitching without it being necessary to describe it further. The cables 87 can of course be replaced by any other means such as rigid transmissions, hydraulic or electrical transmissions. On such a helicopter, manual piloting can of course be assisted by automatic piloting, based on the same principles of control of orientation of the rotor head 2 as those described previously for the unmanned helicopter, and using the conventional means of switching from automatic piloting to manual piloting and vice versa.

Claims

REVENDICATIONS
1. Hélicoptère à pilotage pendulaire du type comportant :1. Pendulum helicopter of the type comprising:
- un fuselage (1) muni d'une motorisation (9) et de moyens de transmission d'énergie,- a fuselage (1) provided with a motorization (9) and means of energy transmission,
- une tête de rotor (2), comportant deux rotors contrarotatifs (77, 78) tournant autour d'un même axe (11), fixée au fuselage (1) par une liaison mobile,- a rotor head (2), comprising two counter-rotating rotors (77, 78) rotating about the same axis (11), fixed to the fuselage (1) by a mobile connection,
- des vérins (4 et 5) de commande de l'orientation de ladite tête de rotor (2) par rapport au fuselage (1)- cylinders (4 and 5) for controlling the orientation of said rotor head (2) relative to the fuselage (1)
- des moyens de commande desdits vérins, caractérisé en ce que la liaison mobile est réalisée par des moyens qui permettent une orientation de l'axe (11) de la tête de rotor dans un cône de débattement dont l'angle au sommet est supérieur à 10 degrés.- means for controlling said jacks, characterized in that the mobile connection is produced by means which allow the axis (11) of the rotor head to be oriented in a deflection cone whose angle at the top is greater than 10 degrees.
2. Hélicoptère à pilotage pendulaire selon la revendication 1, caractérisé en ce que le 1 ' angle au sommet du cône de débattement de la tête de rotor est au moins compris entre 10 et 20 degrés et de préférence supérieur à 20 degrés.2. Pendulum helicopter according to claim 1, characterized in that the angle at the top of the deflection cone of the rotor head is at least between 10 and 20 degrees and preferably greater than 20 degrees.
3. Hélicoptère à pilotage pendulaire selon l'une des revendications 1 ou 2, caractérisé en ce que la position de l'axe (11) des rotors (77, 78) est orientée en attitude par rapport à la verticale, indépendamment de l'attitude du fuselage.3. Pendulum helicopter according to one of claims 1 or 2, characterized in that the position of the axis (11) of the rotors (77, 78) is oriented in attitude relative to the vertical, independently of the attitude of the fuselage.
4. Hélicoptère à pilotage pendulaire selon la revendication 3, caractérisé en ce qu'il comporte des moyens d'orientation en tangage et roulis de la tête de rotor (2) comprenant :4. Pendulum helicopter according to claim 3, characterized in that it comprises means of orientation in pitch and roll of the rotor head (2) comprising:
- au moins deux vérins (4 et 5),- at least two cylinders (4 and 5),
- un générateur d'angles (79) à commander à la tête de rotor (2) fournissant deux angles de tangage et roulis, respectivement β et p, - une référence de verticale (80) fournissant au moins deux angles représentant l'attitude du fuselage par rapport à la verticale, respectivement α et φ,a generator of angles (79) to be controlled from the rotor head (2) providing two angles of pitch and roll, β and p respectively, a vertical reference (80) providing at least two angles representing the attitude of the fuselage with respect to the vertical, respectively α and φ,
- un élaborateur d'ordre (81) qui calcule les ordres à envoyer aux vérins pour que ceux ci orientent la tête de rotor (2) de façon que son axe (11) fasse avec le fuselage (1) des angles γ et σ respectivement en tangage et roulis, γ et σ étant tels que γ = β + α et σ = p + φ de façon à ce que l'axe de la tête de rotor fasse bien avec la verticale les angles β et p respectivement en tangage et roulis.- an order processor (81) which calculates the orders to be sent to the jacks so that they orient the rotor head (2) so that its axis (11) makes angles γ and σ respectively with the fuselage (1) in pitch and roll, γ and σ being such that γ = β + α and σ = p + φ so that the axis of the rotor head makes the angles β and p in pitch and roll respectively .
5. Hélicoptère à pilotage pendulaire selon la revendication 1, caractérisé en ce qu'il comporte au moins une dérive (6) et de préférence deux (6, 7) pivotant chacune autour d'un axe (76) incliné vers l'arrière d'un angle v compris entre 35 et 55 degrés .5. Pendulum helicopter according to claim 1, characterized in that it comprises at least one fin (6) and preferably two (6, 7) each pivoting about an axis (76) inclined towards the rear d 'an angle v between 35 and 55 degrees.
6. Hélicoptère à pilotage pendulaire selon la revendication 5, caractérisé en ce que l'angle v est sensiblement égal à 45 degrés .6. Pendulum helicopter according to claim 5, characterized in that the angle v is substantially equal to 45 degrees.
7. Hélicoptère à pilotage pendulaire selon la revendication 1, caractérisé en ce qu'il comporte des pieds de pales (31) ayant une articulation de battement constituée par une rondelle conique (56), de préférence élastique, maintenue en appui, de préférence au travers d'une autre rondelle (74), entre un lamage circulaire (67) solidaire d'un support de pale (53) et une pièce en forme de vis épaulée (54) ayant une tête (93), ladite pièce (54) étant solidaire d'une embase (52) fixée par une chape 57 à un plateau (19, 20) constituant le centre de l'un des deux rotors (77, 78), l'appui se faisant sous la tête de vis, de préférence au travers d'une rondelle d'appui (71), ladite pièce (54) ayant un épaulement (75) formant axe, et en ce que un matériau amortisseur (55), de forme cylindrique creuse, est placé autour dudit épaulement (75) et à l'intérieur d'un évidement (64) réalisé dans le support de pale (53).7. Pendulum helicopter according to claim 1, characterized in that it comprises blade feet (31) having a hinge articulation constituted by a conical washer (56), preferably elastic, held in abutment, preferably at through another washer (74), between a circular counterbore (67) integral with a blade support (53) and a part in the form of a shouldered screw (54) having a head (93), said part (54) being integral with a base (52) fixed by a yoke 57 to a plate (19, 20) constituting the center of one of the two rotors (77, 78), the support being made under the screw head, preferably through a support washer (71), said part (54) having a shoulder (75) forming an axis, and that a damping material (55), of hollow cylindrical shape, is placed around said shoulder (75) and inside a recess (64) produced in the blade support (53).
8. Hélicoptère à pilotage pendulaire selon l'une des revendications 1 ou 2, caractérisé en ce que la liaison mobile, constituée par une rotule (3), comporte une noix (35) articulée entre deux chapes, l'une (32) étant solidaire du fuselage et l'autre (33) étant solidaire d'une plaque support (13) sur laquelle est montée la tête de rotor (2), lesdites chapes et ladite noix étant creuses en leur centre pour laisser le passage aux moyens de transmissions comprennent un cardan (49) placé au centre de la noix (35) de la rotule (3) et transmettant le mouvement à la tête de rotor (2).8. Pendulum helicopter according to one of claims 1 or 2, characterized in that the movable connection, constituted by a ball joint (3), comprises a nut (35) articulated between two yokes, one (32) being secured to the fuselage and the other (33) being secured to a support plate (13) on which the rotor head (2) is mounted, said yokes and said nuts being hollow in their center to allow passage to the transmission means comprise a universal joint (49) placed in the center of the nut (35) of the ball joint (3) and transmitting the movement to the rotor head (2).
9. Hélicoptère à pilotage pendulaire selon la revendication 1, comportant au moins un et de préférence deux moteurs à piston (37) à axes de sortie (39) verticaux et à cylindres (40) horizontaux, caractérisé en ce que les cylindres (40) de ces moteurs sont placés à l'extérieur du fuselage (1) et sont refroidis directement par l'air extérieur. 9. Pendulum helicopter according to claim 1, comprising at least one and preferably two piston engines (37) with output axes (39) vertical and cylinders (40) horizontal, characterized in that the cylinders (40) of these motors are placed outside the fuselage (1) and are cooled directly by the outside air.
EP00978983A 1999-11-12 2000-11-10 Helicopter with highly stable and highly manoeuvrable pendular piloting system Expired - Lifetime EP1165369B1 (en)

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FR9914229A FR2801034B1 (en) 1999-11-12 1999-11-12 HIGH STABILITY AND HIGHLY MANEUVERABLE PENDULAR PILOT HELICOPTER
FR9914229 1999-11-12
PCT/FR2000/003135 WO2001034466A1 (en) 1999-11-12 2000-11-10 Helicopter with highly stable and highly manoeuvrable pendular piloting system

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